JPH07267409A - Separating/holding hand - Google Patents

Abstract

PURPOSE:To surely separate and hold only the lowermost one of stacked soft thin-plate-like works. CONSTITUTION:An L-shaped substrate 3 is fitted to the left end section of a robot arm section 11 via a wrist section 10, and a rocking shaft 4 is fitted perpendicularly to the paper face near a press section 3a at its lower end section. The right and left rocking links 2A, 2B are connected to the rocking shaft 4 rockably at one-end sections, and vacuum suction pads 1 are provided at the other end sections. A guide groove 3b is provided on the substrate 3, and a moving shaft 6 is coupled with it and linearly guided. Connecting links 5a, 5b are provided to connect the moving shaft 6 and the shafts penetrating the other end sections of the rocking links 2A, 2B perpendicularly to the paper face. The connecting links 5a, 5b, the moving shaft 6, and the shafts at the other end sections of the rocking links 2A, 2B form a revolute pair. The moving shaft 6 is driven via a wire 7 along a linear actuator 8, and the connecting links 5a, 5b and rocking links 2A, 2B are moved to the solid line positions and chain line positions.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a laminated flexible thin plate-like work, for example, a crepe which is formed and before baking, a rubber plate, a cloth, a thin iron plate, and the like, which are separated and grip only the uppermost ones. It relates to a gripping hand.

[0002]

2. Description of the Related Art A conventional example will be described with reference to FIG. Fig. 3 shows the operation of the conventional example, (a) is a side view before separation and gripping, (b) is a side view before gripping and separation, (c) is a side view at the end of separation and gripping, and (d) is during transfer. FIG. In FIG. 3A, an L-shaped base body 23 is attached to the tip of a robot arm portion (not shown) via the wrist portion, and a cross member 22 is attached to the lower end portion thereof at a right angle. Pads 1 for vacuum suction are provided as grasping portions at the left and right ends of the cross member 22, respectively. The pad 1 may be one each, or may be a plurality of pads appropriately arranged according to the shape and size of the stacked works 9. The work 9 is a flexible thin plate such as a crepe before molding and baking, a rubber plate, a cloth, a thin iron plate, etc., and is stacked and placed on a table (not shown).

FIG. 3A shows a stage in which the pad 1 descends in the direction of the arrow toward the upper surface of the work 9. Figure 3 (b) shows
The stage before the pad 1 adsorbs and separates only the topmost 9a of the work 9 is shown. In Fig. 3 (c), the pad 1 is the work 9a.
Is adsorbed, separated from the other work 9b, and rises in the direction of the arrow. FIG. 3 (d) shows a stage in which the pad 1 adsorbs the work 9a and is horizontally transferred in the arrow direction by the robot arm.

[0004]

This conventional example has a drawback that the separation of the work becomes uncertain. That is,
When the work is a crepe, the crepes stick to each other and are difficult to separate.When the work is a thin iron plate, the rust preventive oil applied between the layers causes stickiness. It will be difficult. This difficulty of separation becomes a factor that makes the separation uncertain, and the reliability of separation and gripping of the work pieces one by one, and eventually the workability of 1
As a result, the reliability of individual transfer is reduced.

The problem to be solved by the present invention is to solve the above problems of the prior art, and to separate and hold only the uppermost one of the laminated flexible thin plate-like works for sure holding. To provide a hand.

[0006]

SUMMARY OF THE INVENTION The present invention is a hand for separating and gripping only the uppermost stacked flexible thin plate-like works, and a pressing portion for pressing the upper surface of the stacked works in the stacking direction. And a pair is formed around the swing axis that is located near the pressing portion and is orthogonal to the work stacking direction, and that is positioned on both sides of this swing axis and that is swingably supported at one end. A swing link; a work grip provided at the other end of each swing link; and an actuator that swings and drives each swing link.

Further, according to the present invention, a swinging mechanism can be interposed between each swinging link and the actuator, and the swinging mechanism can move in parallel with the swinging axis in the work stacking direction. A movable shaft to be guided; a shaft provided at the other end of the swinging link in parallel with the movable shaft; a connecting link connecting the shaft and the movable shaft so as to rotatably pass through both ends thereof; And the movable shaft is driven by an actuator. In addition,
The grip portion can be a vacuum type or an electromagnetic type, or a sandwich type.

[0008]

According to the present invention, after the pressing portion presses the upper surface of the stacked work pieces in the stacking direction, each swing link is rotated around the swing axis line by the actuator so that the uppermost work can be gripped by the grip portion. After the uppermost work is gripped, each swinging link is swung in the direction in which the gripping part is floated from the upper surface of the stacked work, and the separation and gripping of the uppermost work is completed. By interposing a swing mechanism between each swing link and the actuator, the actuator drives the movable shaft in a straight line, and in response to this straight line, the corresponding swing link swings via each connecting link. In addition, when the gripping part is a suction type, the topmost work is vacuum-sucked, or only when the work is a magnetic material is electromagnetically attracted, and when the gripping part is a sandwiching type, the topmost work is Part of the work is slackened and held.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the separating and grasping hand according to the present invention will be described below with reference to the drawings. FIG. 1 is a side view of the embodiment. In the figure, an L-shaped base body 3 constituting a hand is attached to the left end portion of a robot arm portion 11 via a wrist portion 10. The lower end of the vertical portion of the base body 3 is the pressing portion 3a, and the swing shaft 4 is provided near the pressing portion 3a at a right angle to the paper surface. Attach the left and right swing links 2A, 2B to the swing shaft 4.
Is oscillatably connected at one end thereof. A pad 1 for vacuum suction serving as a grasping portion is attached to the other end of each swing link 2A, 2B. The pad 1 may be one at each location, or may be a plurality of pads appropriately arranged according to the shape and size of the stacked works 9. A guide groove 3b extending in the vertical direction is provided at an intermediate position of the vertical portion of the base body 3, and the movable shaft 6 is fitted into the guide groove 3b and guided so as to be movable in the vertical direction. Connecting links 5A and 5B are provided in such a manner that the movable shaft 6 and a shaft provided by penetrating the other ends of the swinging links 2A and 2B at right angles to the paper surface. Each connection link 5
A, 5B and the movable shaft 6 and the shaft at the other end of each swing link 2A, 2B form a rotational pair. A linear actuator 8 is installed near the right end of the horizontal part of the base body 3, and its output shaft and the movable shaft 6 are connected by a wire 7 at a right angle via an intermediate pulley not shown. . By the linear movement of the actuator 8, the movable shaft 6,
Each swinging link with each connecting link 5A, 5B and pad 1
2A and 2B can have a solid line position and a one-dot chain line position.

The operation of the embodiment will be described with reference to FIG. 2 (a) is a side view before separation and gripping, (b) is a side view after separation, (c) is a side view after separation and gripping, and (d) is a side view during transfer. In FIG. 2 (a), after the pressing portion 3a presses the upper surface of the stacked work 9 in the stacking direction as indicated by the arrow,
Each swing link 2A, 2B is moved by the actuator 8 so that the uppermost work 9a can be gripped via the pad 1.
Each pad 1 is driven to swing around the swing shaft 4 in the direction of approaching the work 9a, and after each pad 1 comes into contact with the work 9a, it is sucked and gripped. In FIG. 2B, the actuator 8 moves straight to the left, and each pad 1 rises in the arrow direction while adsorbing the work 9a. At this time, the highest work 9a
When the work 9b and the work 9b contacting it adhere and bend together, a minute slip occurs along the contact surface at each minute place between the two due to this curvature, and peeling between the two is induced. In this way, the works 9a and 9b are separated from each other, and the separation and grip of the uppermost work 9a is completed. In FIG. 2 (c), while the work 9a is suctioned and gripped in a slightly curved state, the base body 3 moves upward in the direction of the arrow, and then in FIG. 2 (d), the work 9a is returned to a flat shape and suctioned and gripped. Horizontally transfer to the right as indicated by the arrow.

By the way, in this embodiment, the vacuum suction method is shown as the grip, but in addition to this, an electromagnetic suction method or a sandwiching method can be applied. The vacuum adsorption method is most suitable for crepes and is highly practical because it can be applied to any kind of work material in general. When the work is magnetic material, the electromagnetic adsorption method is suitable, and when the work is extremely flexible like cloth, together with the vacuum adsorption method,
A sandwiching method in which a part of the cloth is slackened and pinched is also applicable. In this way, depending on the type of work and surrounding conditions,
In that case, the optimum gripping method can be selected, which is practically convenient. Further, instead of using a plurality of pads attached to the other end of each swing link according to the shape and size of the work, the following configuration can be adopted. That is, two swing shafts are provided on the base body so as to be orthogonal to each other in the same horizontal plane.
A set of swing links is swingably provided on each swing shaft 4, these are connected to a common movable shaft via a total of four connecting links, and driven by an actuator.

[0012]

According to the present invention, after the pressing portion presses the upper surface of the stacked work pieces in the stacking direction, each swing link is moved by the actuator so that the uppermost work can be gripped by the grip portion. The following effects can be expected because each swing link is swing-driven around the uppermost work, and then each swing link is swung in the direction in which the gripping portion is floated from the upper surface of the stacked work. (1) Only the topmost work is separated and gripped reliably. That is, the reliability of the separation grip is high. (2) When the swing mechanism is used, the movable shaft is driven straight by the actuator, and the corresponding swing link swings through each connecting link in response to this straight movement, so only one actuator is required and the structure is simple. Therefore, the reliability of the operation can be improved and the cost can be reduced. (3) When the gripping part is of the vacuum adsorption type, it is particularly suitable for crepes, but in general it is highly practical because it does not matter what kind of work material is used.
An electromagnetic attraction type gripping part is preferable, and when the work is extremely flexible like cloth, the gripping type gripping is also applicable. In this case, the optimum gripping method can be selected according to the type of work and surrounding conditions, which is practically convenient.

[Brief description of drawings]

FIG. 1 is a side view of an embodiment according to the present invention.

2 is a side view before separation and gripping, (b) is a side view after separation, (c) is a side view at the end of separation and gripping, and (d) is during transfer. Side view

[Fig. 3] Regarding the operation of the conventional example, (a) is a side view before separation and gripping, (b) is a side view before gripping and separating, (c) is a side view at the end of separation and gripping, and (d) is transfer. Inside view

[Explanation of symbols]

 1 Pad 2A, 2B Swing Link 3 Base 3a Pressing Part 3b Guide Groove 4 Swing Shaft 5A, 5B Swing Link 6 Movable Shaft 7 Wire 8 Actuator 9 Workpiece 10 Wrist 11 Robot Arm

Claims (4)

[Claims] 1. A hand for separating and gripping only the uppermost one of the laminated flexible thin plate-like works, and a pressing portion for pressing the upper surface of the laminated work in the stacking direction; and a position near the pressing portion. Then, around a swing axis orthogonal to the work stacking direction, two swing links located on both sides of this swing axis and swingably supported at one end; A work grip provided at the other end of the moving link;
An actuator for oscillating and driving each oscillating link; 2. The hand according to claim 1, wherein a rocking mechanism is interposed between each rocking link and the actuator,
This swing mechanism includes a movable shaft guided in parallel with the swing axis in the work stacking direction; a shaft provided at the other end of the swing link parallel to the movable shaft; And a connecting link that rotatably connects both ends in a penetrating manner at both ends; and a movable shaft driven by an actuator. 3. The hand according to claim 1 or 2, wherein the gripping portion is a suction type. 4. The hand for separating and grasping according to claim 1, wherein the grasping portion is of a sandwiching type.